대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2008년도 제39회 하계학술대회
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- Pages.1883-1884
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- 2008
연합방법을 이용한 다개체 에이전트들의 무리짓기 행동제어
Swarming Behavior of Multiple Agents by Association
- Kim, Dong-Hun (Kyungnam University) ;
- Han, Byung-Jo (Hanyang University) ;
- Kim, Eung-Suk (Halla University) ;
- Kim, Hong-Pil (Kyungil University) ;
- Yang, Hai-Won (Hanyang University)
- 발행 : 2008.07.16
초록
This paper presents a framework for decentralized control of self-organizing swarm agents based on the artificial potential functions (APFs). The framework explores the benefits by associating agents based on position information to realize complex swarming behaviors. A key development is the introduction of a set of association rules by APFs that effectively deal with a host of swarming issues such as flexible and agile formation. In particular, this paper presents an association rule for swarming that requires less movements for each agent and compact formation among agents. Extensive simulations are presented to illustrate the viability of the proposed framework.
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